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Revision 584

Added by Brad Neuman about 16 years ago

added a define value for the change in direction used by the fsm.
code worked in my trail w/ robot 1 as the decoy, robo 7 as the driver

View differences:

branches/orbit/code/behaviors/orbit_fsm/decoy/decoy.c
15 15 
  orb_init();
16 16 
  orb_set_color(PURPLE);
17 17 
  wl_init();
18 
  wl_set_channel("O");
18 19 
  wl_token_ring_register();
19 20 
  wl_token_ring_join(); // join token ring
20 21 
  usb_init();
21 22 
  usb_puts("start");
22 23 
  usb_puti(wl_get_xbee_id());
23 24 
  usb_puts("end");
25
24 26
25 27
26 28 
  while(1) {
branches/orbit/code/behaviors/orbit_fsm/orbit_fsm.c
35 35 
  orbit_pControl=0;
36 36 
  orbit_bom = 0;
37 37 
  orbit_theta = 0;
38 
  orbit_theta_stop = -1;
38 
  orbit_theta_stop = 1000;
39 39
40 40 
  /*Initialize distances to zero.*/
41 41 
  orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000;
......
133 133 
      if (orbit_bom == ORBIT_DIRECTION)
134 134 
        orbit_pControl = ORBIT_DIRECTION;
135 135 
      else if (orbit_bom < ORBIT_DIRECTION)
136 
        orbit_pControl = ORBIT_DIRECTION-5;
136 
        orbit_pControl = ORBIT_DIRECTION-ORBIT_CORRECTION;
137 137 
      else
138 
        orbit_pControl = ORBIT_DIRECTION+5;
138 
        orbit_pControl = ORBIT_DIRECTION+ORBIT_CORRECTION;
139 139
140 140 
      move(ORBIT_STRAIGHT_SPEED,orbit_pControl);
141 141 
      break;
branches/orbit/code/behaviors/orbit_fsm/orbit_fsm.h
12 12 

  		




  13
  13
  
    

  		




  14
  14
  
    
#define ORBIT_STRAIGHT_SPEED 160


  		




  
  15
  
    
#define ORBIT_CORRECTION 9


  		




  15
  16
  
    

  		




  16
  17
  
    

  		




  17
  18
  
    
#define ORBIT_DIRECTION 4     // if 4, then orbit to the right; if -4, then orbit to the left


  		












  

    
      branches/orbit/code/behaviors/orbit_fsm/driver.c
    
  





  15
  15
  
    
  orb_init();


  		




  16
  16
  
    
  orb_set_color(PURPLE);


  		




  17
  17
  
    
  wl_init();


  		




  
  18
  
    
  wl_set_channel("O");


  		




  18
  19
  
    
  wl_token_ring_register();


  		




  19
  20
  
    
  wl_token_ring_join(); // join token ring


  		




  20
  21
  
    
  


  		




  ......




  28
  29
  
    
      break;


  		




  29
  30
  
    
  }*/


  		




  30
  31
  
    

  		




  31
  
  
    
  orbit_init(9);//robot);


  		




  
  32
  
    
  orbit_init(1);//robot);


  		




  32
  33
  
    

  		




  33
  34
  
    
  while(1) {


  		




  34
  35
  
    
    orbit_fsm(); // do orbit


  		












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